Add Recording APIs (microsoft#2834)

* Add Recording APIs

startRecording(), stopRecording(), isRecording()

* [Unity] Add non-impl placeholder Recording API methods

AirLib/include/api/RpcLibClientBase.hpp

@@ -106,6 +106,11 @@ class RpcLibClientBase {
 
 	std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
 
+    // Recording APIs
+    void startRecording();
+    void stopRecording();
+    bool isRecording();
+
 protected:
     void* getClient();
     const void* getClient() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -58,6 +58,11 @@ class WorldSimApiBase {
 
 	virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
     virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
+
+    // Recording APIs
+    virtual void startRecording() = 0;
+    virtual void stopRecording() = 0;
+    virtual bool isRecording() const = 0;
 };
 
 

AirLib/src/api/RpcLibClientBase.cpp

@@ -399,6 +399,21 @@ RpcLibClientBase* RpcLibClientBase::waitOnLastTask(bool* task_result, float time
     return this;
 }
 
+void RpcLibClientBase::startRecording()
+{
+    pimpl_->client.call("startRecording");
+}
+
+void RpcLibClientBase::stopRecording()
+{
+    pimpl_->client.call("stopRecording");
+}
+
+bool RpcLibClientBase::isRecording()
+{
+    return pimpl_->client.call("isRecording").as<bool>();
+}
+
 void* RpcLibClientBase::getClient()
 {
     return &pimpl_->client;

AirLib/src/api/RpcLibServerBase.cpp

@@ -314,6 +314,18 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
 		return *getWorldSimApi()->swapTextures(tag, tex_id, component_id, material_id);
 	});
 
+    pimpl_->server.bind("startRecording", [&]() -> void {
+        getWorldSimApi()->startRecording();
+    });
+
+    pimpl_->server.bind("stopRecording", [&]() -> void {
+        getWorldSimApi()->stopRecording();
+    });
+
+    pimpl_->server.bind("isRecording", [&]() -> bool {
+        return getWorldSimApi()->isRecording();
+    });
+
     //if we don't suppress then server will bomb out for exceptions raised by any method
     pimpl_->server.suppress_exceptions(true);
 }

PythonClient/airsim/client.py

@@ -675,6 +675,30 @@ def waitOnLastTask(self, timeout_sec = float('nan')):
         """
         return self.client.call('waitOnLastTask', timeout_sec)
 
+    # Recording APIs
+    def startRecording(self):
+        """
+        Start Recording
+
+        Recording will be done according to the settings
+        """
+        self.client.call('startRecording')
+
+    def stopRecording(self):
+        """
+        Stop Recording
+        """
+        self.client.call('stopRecording')
+
+    def isRecording(self):
+        """
+        Whether Recording is running or not
+
+        Returns:
+            bool: True if Recording, else False
+        """
+        return self.client.call('isRecording')
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp

@@ -149,4 +149,24 @@ std::vector<WorldSimApi::MeshPositionVertexBuffersResponse> WorldSimApi::getMesh
     return result;
 }
 
+// Recording APIs
+void WorldSimApi::startRecording()
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "startRecording is not supported on unity").c_str());
+}
+
+void WorldSimApi::stopRecording()
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "stopRecording is not supported on unity").c_str());
+}
+
+bool WorldSimApi::isRecording() const
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "isRecording is not supported on unity").c_str());
+    return false;
+}
+
 #pragma endregion

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h

@@ -44,6 +44,11 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual void simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration) override;
     virtual std::vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const override;
 
+    // Recording APIs
+    virtual void startRecording() override;
+    virtual void stopRecording() override;
+    virtual bool isRecording() const override;
+
 private:
 	SimModeBase * simmode_;
 	std::string vehicle_name_;

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -237,4 +237,20 @@ std::vector<WorldSimApi::MeshPositionVertexBuffersResponse> WorldSimApi::getMesh
 		responses = UAirBlueprintLib::GetStaticMeshComponents();
 	}, true);
 	return responses;
-}
+}
+
+// Recording APIs
+void WorldSimApi::startRecording()
+{
+    simmode_->startRecording();
+}
+
+void WorldSimApi::stopRecording()
+{
+    simmode_->stopRecording();
+}
+
+bool WorldSimApi::isRecording() const
+{
+    return simmode_->isRecording();
+}

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -48,6 +48,11 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual void simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration) override;
 	virtual std::vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const override;
 
+    // Recording APIs
+    virtual void startRecording() override;
+    virtual void stopRecording() override;
+    virtual bool isRecording() const override;
+
 private:
     ASimModeBase* simmode_;
 };

docs/apis.md

@@ -179,6 +179,20 @@ Please note that `Roadwetness`, `RoadSnow` and `RoadLeaf` effects requires addin
 
 Please see [example code](https://github.com/Microsoft/AirSim/blob/master/PythonClient/computer_vision/weather.py) for more details.
 
+### Recording APIs
+
+Recording APIs can be used to start recording data through APIs. Data to be recorded can be specified using [settings](settings.md#recording). To start recording, use -
+
+```
+client.startRecording()
+```
+
+Similarly, to stop recording, use `client.stopRecording()`. To check whether Recording is running, call `client.isRecording()`, returns a `bool`.
+
+This API works alongwith toggling Recording using R button, therefore if it's enabled using R key, `isRecording()` will return `True`, and recording can be stopped via API using `stopRecording()`. Similarly, recording started using API will be stopped if R key is pressed in Viewport. LogMessage will also appear in the top-left of the viewport if recording is started or stopped using API.
+
+Note that this will only save the data as specfied in the settings. For full freedom in storing data such as certain sensor information, or in a different format or layout, use the other APIs to fetch the data and save as desired.
+
 ### Lidar APIs
 AirSim offers API to retrieve point cloud data from Lidar sensors on vehicles. You can set the number of channels, points per second, horizontal and vertical FOV, etc parameters in [settings.json](settings.md).